Stability analysis and control design based on average dwell time approaches for switched nonlinear port-controlled Hamiltonian systems

This paper addresses the problems of the stability, stabilization and H-infinity control for switched port-controlled Hamiltonian (SPCH) systems. For unforced SPCH systems, via energy-based multiple Lyapunov functions methods, sufficient conditions of both exponential stability and asymptotical stability are obtained under arbitrary switching signals with an average dwell time scheme. Then, based on the state feedback, a switching controller is designed to stabilize SPCH systems, and a switching H-infinity controller is presented to attenuate the external disturbances for SPCH systems, while SPCH systems are subject to actuator saturation, the stabilization and H-infinity control are investigated and the truncation-inequality method is employed to deal with the saturation. Finally, two numerical simulation examples are provided to verify the effectiveness of the proposed methods. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.